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It's not obvious what the heck this is without reading into it. A full 4pi steradian scanner? a 360 degree 1 channel LIDAR? A fisheye camera plus some single channel LIDAR plus monocular depth estimation networks to cover everything not in the plane of the lidar?

It would be great to clarify what it is in the first sentence.

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I believe it's a 360deg planar lidar mounted on a vertical plane, with a motor to rotate it around and slowly cover a full 4pi sphere. There's also a fisheye camera integrated in. This is a pretty common setup for scanning stationary spaces (usually tripod mounted)

its a fisheye camera plus single-channel LiDAR

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